Specifications
Table Of Contents
- Coverpage
- Safety Instructions
- Revision History
- Contents
- Introduction
- 1 Outline
- 2 Explanation of Functions
- 3 Q-PLC Multi-CPU
- 4 Q Motion CPU
- 5 SFC Program
- 6 SV22 Servo Programs
- 6.1 Servo program
- 6.1.1 Servo program configuration
- 6.1.2 List of servo commands
- 6.1.3 Linear control
- 6.1.4 Circular interpolation control using auxiliary point designation
- 6.1.5 Circular interpolation control using radius designation
- 6.1.6 Circular interpolation control using center point designation
- 6.1.7 Fixed-dimension feed control
- 6.1.8 Speed control
- 6.1.9 Speed/position changeover control
- 6.1.10 Speed changeover control
- 6.1.11 Constant-speed control
- 6.1.12 Repeated control (for speed changeover control and uniform speed control)
- 6.1.13 Simultaneous start
- 6.1.14 Zero point return
- 6.1.15 Position follow-up control
- 6.1.16 High-speed oscillation control
- 6.1.17 Helical interpolation control with auxiliary point designated
- 6.1.18 Helical interpolation control with radius designated
- 6.1.19 Helical interpolation control with center point designated
- 6.1.20 Current value change
- 6.1 Servo program
- 7 Operation Control Program
- 8 Windows Personal Computer Operations
- 9 Basic Practice Using the SV22 Real Mode
- 10 Applied Practice with SV22 Real Mode
- 10.1 Details of practice
- 10.2 Q172CPU practice machine system configuration
- 10.3 Practice SFC programs
- 10.4 Writing to the motion CPU
- 10.5 Program for operation
- 10.5.1 JOG operation
- 10.5.2 Main routine SFC program (real mode operation)
- 10.5.3 Execution of servo program (motion control step)
- 10.5.4 Stopping
- 10.5.5 Error reset
- 10.5.6 Current value change
- 10.5.7 Speed change (CHGV)
- 10.5.8 Reading actual current value
- 10.5.9 Continuous positioning
- 10.5.10 M code function
- 10.5.11 Indirect setting of servo program address
- 10.6 Operating the practice machine
- 11 Practicing with the SV22 Virtual Mode
- 11.1 Mechanism program
- 11.2 Details of practice
- 11.3 Starting up SW3RN-CAMP and creating the cam
- 11.4 SFC program for virtual mode
- 11.5 Editing the mechanism
- 11.6 Writing to the motion CPU
- 11.7 Reading of sequence program from Q-PLC CPU
- 11.8 SFC program for practice
- 11.9 Practice machine operations
- 11.10 Exercise (Roller setting)
- Appendix
4 - 5
4.2.3 Fixed parameters
The fixed parameters to be set are shown below.
Setting range Default
mm inch degree PULSENo. Item
Setting range Units Setting range Units Setting range Units Setting range Units
Initial value Units
Remarks
1 UNIT SETTING 0 – 1 – 2 – 3 – 3 –
• Set the command unit in
positioning control for each axis.
2
PULSE/
TURN
(AP)
1 to 65535PLS 20000 PLS
• Set the number of feedback pulses
per motor rotation.
3
Movement amount per
pulse (A)
MOVE-
MENT/
TURN
(AL)
0.1 to 6553.5 µm
0.00001 to
0.65535
inch
0.00001 to
0.65535
degree 1 to 65535 PLS 20000 PLS
• Set the movement amount per
motor revolution, which is
determined by the mechanical
system.
4 BACKLASH 0.0 to 6553.5 µm 0.0 to 0.65535 inch 0.0 to 0.65535 degree 0 to 65535 PLS 0 PLS
• Set the amount of backlash in the
machine.
• Every time the positioning direction
changes during positioning,
compensation by the backlash
compensation amount is executed.
5
STROKE LIMIT
MAX.
–214748364.8
to
214748364.7
µm
–21474.83648
to
21474.83647
inch
0 to
359.99999
degree
–2147483648
to
2147483647
PLS 2147483647 PLS
• Set the upper limit for the machine
movement amount.
6
STROKE LIMIT
MIN.
–214748364.8
to
214748364.7
µm
–21474.83648
to
21474.83647
inch
0 to
359.99999
degree
–2147483648
to
2147483647
PLS 0 PLS
• Set the lower limit for the machine
movement amount.
7
CMD. IN-POS.
RANGE
0.1 to
214748364.7
µm
0.00001 to
21474.83647
inch
0.00001 to
359.99999
degree
1 to
2147483647
PLS 100 PLS
• Set the position at which the
command in-position signal
M2403+20n is turned ON
[(Positioning address) –
(Feed present value)].
<Conditions>
• The ball screw lead is 8mm, and the gear ratio is 1/2.
• Servomotor: HC-MFS13 (number of encoder output pulses: 131072 pls)
<Relative expression>
A = = = =
Consequently, set the number of encoder pulses (A
P
) per rotation to '131072', and the movement amount
(A
L
) per rotation to '4000.0' respectively.
Setting example for "Movement amount per pulse"
A
L
A
P
Lead × Gear ratio
Number of encoder output pulses
8000 ×
131072
1
2
4000
131072